Bonding System and Bonding Method

Abstract

A bonding system includes a supporting jig having a mounting surface on bonding substrates which are mounted, a bonding device that sandwiches and welds the bonding substrates between itself and the mounting surface, an articulated robot to which the bonding device is attached, and a control unit that controls the articulated robot and the bonding device.

Claims

1. A bonding system comprising: a supporting jig having a mounting surface on which bonding substrates are mounted; a bonding device that sandwiches and welds the bonding substrates between the bonding device and the mounting surface; an articulated robot to which the bonding device is attached; and a control unit that controls the articulated robot and the bonding device.

2. The bonding system according to claim 1, wherein: the mounting surface is formed so as to include a plurality of bonding supporting surfaces, and the control unit controls the articulated robot and the bonding device such that the bonding substrates are welded on the plurality of bonding supporting surfaces.

3. The bonding system according to claim 1, further comprising a temperature adjustment device that adjusts a temperature of the mounting surface.

4. The bonding system according to claim 1, wherein: the mounting surface is formed so as to include a plurality of bonding supporting surfaces, and the system further comprises a temperature adjustment device that adjusts a temperature of the plurality of bonding supporting surfaces.

5. The bonding system according to claim 1, further comprising an operating device that operates the supporting jig.

6. A bonding method in which bonding substrates, which include a thermoplastic resin material, are bonded using a bonding system, the system comprising: a supporting jig having a mounting surface on which bonding substrates are mounted; a bonding device that sandwiches and welds the bonding substrates between the bonding device and the mounting surface; an articulated robot to which the bonding device is attached; and a control unit that controls the articulated robot and the bonding device.

7. The bonding method according to claim 6, wherein: the mounting surface is formed so as to include a plurality of bonding supporting surfaces, and the control unit controls the articulated robot and the bonding device such that the bonding substrates are welded on the plurality of bonding supporting surfaces.

8. The bonding method according to claim 6, further comprising a temperature adjustment device that adjusts a temperature of the mounting surface.

9. The bonding method according to claim 6, wherein: the mounting surface is formed so as to include a plurality of bonding supporting surfaces, and the bonding system further comprises a temperature adjustment device that adjusts a temperature of the plurality of bonding supporting surfaces.

10. The bonding method according to claim 6, further comprising an operating device that operates the supporting jig.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG. 1A is an enlarged cross-sectional view showing a supporting jig 10 in a bonding system of the present exemplary embodiment.

[0021] FIG. 1B is an enlarged cross-sectional view showing a state in which bonding substrates are bonded using the bonding system of the present exemplary embodiment.

[0022] FIG. 2 is a view showing the overall structure of the bonding system of the present exemplary embodiment.

[0023] FIG. 3 is a cross-sectional view showing an operating device of the present exemplary embodiment.

[0024] FIG. 4 is an enlarged view showing the bonding device of the present exemplary embodiment.

[0025] FIG. 5 is an enlarged view showing another aspect of the bonding device of the present exemplary embodiment, namely, a bonding device used in electromagnetic induction heat welding.

[0026] FIG. 6 is a schematic diagram showing a state in which a conductivity imparting component is sandwiched between bonding substrates 90.

[0027] FIG. 7 is a view showing a relationship between a supporting jig and a plurality of bonding substrates.

[0028] FIG. 8 is a view showing a C-gun type of bonding device of the conventional technology.

DESCRIPTION OF THE EMBODIMENTS

[0029] Hereinafter, a bonding system S and a bonding method according to an exemplary embodiment of the present disclosure will be described with reference to FIG. 1A through FIG. 7.

[0030] The overall structure of the bonding system S of the present exemplary embodiment is shown in FIG. 2. As is shown in FIG. 2, the bonding system S of the present exemplary embodiment is provided with an articulated robot 30, a bonding device 20, a supporting jig 10, an operating device 50, and a control unit 40.

[0031] Note that thermoplastic resin materials are included as the bonding substrates 90 that are to be bonded by the bonding system S. In other words, the bonding that is performed may be, for example, a bonding together of bonding substrates 90 that are each formed from thermoplastic resin materials, or a bonding together of a bonding substrate formed from a thermoplastic resin material and a bonding substrate formed from a metal material. Examples of the resin material include fiber reinforced resins such as carbon fiber reinforced resins and glass fiber reinforced resins, and also resins other than these.

[0032] (Articulated Robot 30)

[0033] The articulated robot 30 is a vertically articulated robot that is provided with articulated joints. The number of axes of the articulated robot 30 is, for example, from 4 to 7 axes, however, a different number of axes may also be employed. The bonding device 20 is attached to a wrist portion of the articulated robot 30. The articulated robot 30 is constructed so as to be able to bear the weight of the bonding device 20, and to withstand the load generated during bonding.

[0034] (Bonding Device 20)

[0035] The bonding device 20 is a device that sandwiches bonding substrates 90 between itself and the supporting jig 10, and bonds the bonding substrates 90 together by welding (see FIG. 1A and FIG. 1B). The bonding method used by the bonding device 20 is desirably a surface direct pressure bonding method which is applied to the bonding substrates 90, and it is desirable that, for example, ultrasonic welding and electromagnetic induction heat welding be performed.

[0036] Note that because the direction of excitation when vibration welding is performed is limited to a single direction, this method cannot be used to bond together bonding substrates 90 whose bonding surfaces have a two-dimensional or greater configuration. In addition, there are also a large number of layout restrictions in articles having a unidirectional structure such as in the amplitude portion and in providing part clearance and the like, so that this method is not suitable for these articles as well. Accordingly, the term ‘bonding device’ of the present disclosure does not include devices that perform vibration welding.

[0037] A structure employed when the bonding method of the bonding device 20 is an ultrasonic welding method is shown in FIG. 4. As is shown in FIG. 4, bonding substrates 90 that are formed from thermoplastic resin are bonded together via fusing by ultrasonic vibration provided by a distal end portion 22 (i.e., a horn) of the bonding device 20 and welding pressure P.

[0038] In addition, a structure employed when the bonding method of the bonding device 20 is an electromagnetic induction heat welding method is shown in FIG. 5. As is shown in FIG. 5, a bonding substrate 90 that has electrical conductivity (here, for example, a substrate 96 that is formed from a metal material) is heated as a result of an induction current being generated by supplying a high-frequency current to a coil 26, and consequently melts a substrate 92 that is formed from a thermoplastic resin material. The substrate 92 and the substrate 96 are then bonded together by welding pressure P applied by a roller 28. Note that it is also possible for the vertical relationship between the metal material substrate 96 and the resin material substrate 92 to be inverted.

[0039] When the bonding method of the bonding device 20 is an electromagnetic induction heat welding method and the bonding substrates 90 that are to be bonded together are formed solely by resin materials having no electrical conductivity, then as is shown in FIG. 6, a conductivity imparting component 80 such as a conductive filler or metal mesh or the like is interposed between the bonding substrates 90 thereby enabling these to be bonded together.

[0040] (Supporting Jig 10)

[0041] The supporting jig 10 is provided with a mounting surface 12 on which the bonding substrates 90 are mounted (i.e., set). As is shown in FIG. 1B, the bonding substrates 90 are mounted on the mounting surface 12, and once the bonding substrates 90 (i.e., 92 and 96) have been sandwiched between the mounting surface 12 and the distal end portion 22 (i.e., the horn) of the bonding device 20, they are bonded together. In this way, the bonding device 20 is able to access the bonding substrates 90 from one side thereof, and consequently bond the bonding substrates 90 together.

[0042] As is shown in FIG. 4, a load sensor, a distal end position control device, and a thermal camera 24 are provided in the bonding device 20. The load sensor detects the pressure P that is applied by the distal end portion 22 to the bonding substrates 90. The distal end position control device controls the position (see an arrow D) of the distal end of the device. The thermal camera 24 measures the surface temperature of the bonding substrates 90.

[0043] As is shown in FIG. 1A and FIG. 1B, temperature sensors 62 such as thermocouples are built into the supporting jig 10. The temperature sensors 62 detect the temperature of the supporting jig 10. The temperature sensors 62 are respectively provided so as to correspond to portions of the supporting jig 10 where the bonding is performed, namely, in the respective bonding supporting surfaces 15 (15A, 15B, 15C; see FIG. 1A). As a result, the temperatures of each of the bonding supporting surfaces 15 can be detected.

[0044] As has been described above, because a structure is employed in which the temperature of each portion can be measured, the bonding device 20 can be controlled such that the bonding substrates 90 are adequately melted together, and such that a high bond quality can be guaranteed.

[0045] (Temperature Adjustment Devices 64)

[0046] Temperature adjustment devices 64 are also provided in the supporting jig 10. The temperature adjustment devices 64 are devices that adjust the temperature of the supporting jig 10.

[0047] Various types of structure may be considered for the temperature adjustment devices 64, however, in the present exemplary embodiment, a circuit is formed within the supporting jig 10 and a medium is made to flow along this circuit. The supporting jig 10 can be heated by supplying a heating medium to the circuit, and the supporting jig 10 can be cooled by supplying a cooling medium to the circuit. Examples of the medium supplied to the circuit include water, oil, and air and the like. Note that the temperature adjustment devices 64 may also be formed by a cartridge heater that is embedded within the supporting jig 10.

[0048] As is shown in FIG. 1A and FIG. 1B, a temperature adjustment device 64 is provided so as to correspond to each of the bond supporting surfaces 15 (15A, 15B, 15C), and is formed so as to be able to adjust the respective temperature of each individual bonding supporting surface 15 (15A, 15B, 15C).

[0049] (Operating Device 50)

[0050] The operating device 50 is a device that operates rotations and the like of the supporting jig 10. The operating device 50 is controlled so as to move in conjunction (i.e., in coordination) with the articulated robot 30. As a result, the reach of the articulated robot 30 is compensated and a reduction in bonding time can be achieved.

[0051] In the present exemplary embodiment, as is shown in FIG. 3, a turning bearing 54 is provided between a stand 52 and the supporting jig 10. As a consequence, the supporting jig 10 is able to be rotated around an axis P that extends in an up-down direction. In addition, a spring-loaded ball roller 56 is provided in a portion located at a distance from the axis P forming the center of rotation. As a result, the supporting jig 10 is able to resist moment and deflection during rotation.

[0052] (Control Unit 40)

[0053] The control unit 40 is connected to the articulated robot 30, the bonding device 20, the operating device 50, and the temperature adjustment device 64, and controls each of the articulated robot 30, bonding device 20, operating device 50, and temperature adjustment device 64.

[0054] For example, the control unit 40 controls the bonding device 20 based on the surface temperature of the bonding substrates 90 detected by the thermal camera 24, and on the temperature of the supporting jig 10 detected by the temperature sensors 62. Additionally, the control unit 40 also controls the bonding device 20 based on the pressure P applied to the bonding substrates 90 detected by the load sensor. As a result, the weld quality can be stabilized.

[0055] Moreover, for example, the bonding supporting surfaces 15 are heated prior to welding as a result of the control unit 40 controlling the temperature adjustment device 64. As a consequence, the bonding substrates 90 that are in contact with the bonding supporting surface 15 are heated, so that the molten state of the bonding substrates 90 is either accelerated, or the molten state thereof is maintained.

[0056] Additionally, the control unit 40 also cools the bonding supporting surface 15 after welding. As a consequence, the bonding substrates 90 that are in contact with the bonding supporting surface 15 are cooled, so that any thermal effects on portions that are adjacent to the portions being bonded are inhibited. Accordingly, the weld quality can be stabilized and improved.

[0057] (Specific Structure of the Supporting Jig)

[0058] An example of the configuration of the supporting jig 10 is shown in FIG. 1A. As is shown in FIG. 1A, the mounting surface 12 is not formed as a simple flat surface, but is instead formed having a three-dimensional configuration.

[0059] More specifically, the mounting surface 12 is formed so as to include a first horizontal surface 12A whose normal direction faces upwards. A first inclined surface 12B is formed extending diagonally upwards from an end portion of the first horizontal surface 12A. A normal direction of the first inclined surface 12B faces diagonally upwards (i.e., in a diagonally upward direction towards the upper-right side in FIG. 1A). A second horizontal surface 12C is formed extending from an upper end of the first inclined surface 12B. A second inclined surface 12D whose normal direction faces diagonally downwards is formed extending from an end portion (i.e., the left end in FIG. 1A) of the second horizontal surface 12C, and a third horizontal surface 12F is formed via a vertical surface 12E extending from an upper end of the second inclined surface 12D.

[0060] The bonding steps are performed at each of the first horizontal surface 12A, the first inclined surface 12B, and the third horizontal surface 12F.

[0061] More specifically, firstly, the first bonding substrate 92 and the second bonding substrate 94 are welded together at the first inclined surface 12B. The portion on the first inclined surface 12B where bonding is performed is referred to specifically as a first bonding supporting surface 15A (see FIG. 1A).

[0062] Next, the first bonding substrate 92 and the third bonding substrate 96 are welded together at the third horizontal surface 12F. The portion on the third horizontal surface 12F where bonding is performed is referred to specifically as a second bonding supporting surface 15B.

[0063] Lastly, the first bonding substrate 92 and the third bonding substrate 96 are welded together at the first horizontal surface 12A. The portion on the first horizontal surface 12A where bonding is performed is referred to specifically as a third bonding supporting surface 15C.

[0064] In other words, the order in which bonding is performed is, firstly, at the first bonding supporting surface 15A, secondly, at the second bonding supporting surface 15B, and lastly, at the third bonding supporting surface 15C. When the bonding at the first bonding supporting surface 15A is performed, the first bonding substrate 92 and the second bonding substrate 94 are mounted on the supporting jig 10, while the third bonding substrate 96 is left off the supporting jig 10. After the bonding at the first bonding surface 15A has been completed, as is shown in FIG. 1B, the third bonding substrate 96 is then mounted on the supporting jig 10 and the remaining bonding is performed. Note that, if necessary, the bonding can be performed with the bonding substrates 90 fixed in position by means of a clamp 70 or the like (see FIG. 1B).

[0065] The cross-sectional structure shown in FIG. 1B extends in a perpendicular direction relative to the paper surface while the shape of this cross-sectional structure is maintained. Consequently, a closed cross-sectional structure extending in a perpendicular direction relative to the paper surface is formed by the first bonding substrate 92, the second bonding substrate 94, and the third bonding substrate 96.

[0066] Accordingly, each bonding portion is bonded either continuously or intermittently in the direction in which each bonding portion extends (i.e., in a perpendicular direction relative to the paper surface). If, for example, the bonding method is an ultrasonic welding method, then the distal end portion 22 of the bonding device 20 is abutted against the bonding portions intermittently in the direction in which each bonding portion extends, and bonding is performed.

[0067] Note that a procedure for manufacturing a resin frame of an automobile using the bonding system of the present disclosure is shown schematically in FIG. 7. In this manner, according to the bonding system of the present disclosure, it is possible to bond together a plurality of bonding substrates 90 using the single supporting jig 10, and accordingly improve productivity.

[0068] [Action and Effects]

[0069] Next, actions and effects of the bonding system of the present exemplary embodiment will be described.

[0070] In the bonding system S according to the present exemplary embodiment, bonding substrates 90 are mounted on the mounting surface 12 of the supporting jig 10. The bonding device 20 that sandwiches the bonding substrates 90 between itself and the mounting surface 12 and then welds the bonding substrates 90 together is attached to the articulated robot 30. The articulated robot 30 and the bonding device 20 are then controlled by the control unit 40 such that the bonding substrates 90 are welded together.

[0071] As a result, the bonding device 20 is able to access the bonding substrates 90 from one side thereof, and bond the bonding substrates 90 together.

[0072] Furthermore, compared with a structure in which, for example, a C-gun type of device is attached to an articulated robot and used to perform bonding, an articulated robot having a lighter transportable payload can be used so that capital investment costs can also be reduced. Moreover, because the bonding device of the present exemplary embodiment is more compact than a C-gun type, the operating speed thereof can also be increased.

[0073] Moreover, because of this, tool accessibility is improved so that center portions of large-sized components such as ‘deep belly portions’ like that shown in FIG. 1B can also be easily bonded.

[0074] Moreover, in the bonding system S of the present exemplary embodiment, the mounting surface 12 is formed so as to include a plurality of bonding supporting surfaces 15 (15A, 15B, 15) that each have a different normal direction. In addition, the control unit 40 controls the articulated robot 30 and the bonding device 20 such that the bonding substrates 90 are welded at the plurality of bonding supporting surfaces 15 (15A, 15B, 15).

[0075] Because of this, using a single supporting jig 10, it is possible to bond together bonding substrates (i.e., resin parts) that require multidirectional bonding. Accordingly, tooling setup changes in the supporting jig 10 can be reduced.

[0076] Moreover, the bonding system S of the present exemplary embodiment is also provided with the temperature adjustment device 64 that adjusts the temperature of the bonding supporting surface 15. Because of this, by adjusting the temperature of the bonding supporting surfaces 15 via the temperature adjustment device 64, it is possible to both stabilize and improve the weld quality. In particular, by heating the bonding substrates 90 prior to welding, the resin molten state thereof is either accelerated, or maintained.

[0077] Moreover, by cooling the welded portion after welding has been completed, any effects from the heat thereof on adjacent portions can be eliminated. Accordingly, a further stabilization and improvement in the weld quality can be anticipated.

[0078] Additionally, by providing the temperature adjustment device 64, when a bonding method that is used in combination with a thermosetting adhesive agent is employed, an acceleration of the curing of the adhesive agent is possible, and a shortening in the cycle time can be achieved.

[0079] Moreover, in the bonding system S of the present exemplary embodiment, the bonding device 20 is formed such that the distal end portion 22 thereof is replaceable. Because of this, by replacing the distal end portion 22 to match the shape of the bonding portion, limitations on the range of movement and on the singular configuration of the articulated robot 30 can be avoided, and the range of a single bonding operation performed on the supporting jig can be set to a broader range. In addition, tooling setup changes in the supporting jig 10 can be reduced.

[0080] Moreover, in the bonding system S of the present exemplary embodiment, the material used to form the supporting jig 10 is an aluminum alloy. Because of this, the supporting jig 10 is highly efficient in discharging heat generated during bonding.

[0081] Moreover, in the bonding system S of the present exemplary embodiment, the operating device 50 is also provided in the supporting jig 10. Because of this, limitations on the range of movement of the articulated robot 30 and limitations on the singular configuration of the articulated robot 30 can be avoided, and the range of a single bonding operation performed on the supporting jig can be set to a broader range. In addition, tooling setup changes in the supporting jig 10 can be reduced, and both a reduction in takt time and the bonding of a plurality of articles can be achieved in a single step.

[0082] Moreover, in the bonding system S of the present exemplary embodiment, a pressure detection sensor is also mounted in the bonding device 20. Because of this, it is possible to measure the pressure applied to the bonding substrates 90. The bonding device 20 can then be controlled based on the obtained measurement results. Accordingly, not only can the weld quality be stabilized, but better quality control can also be achieved.

[0083] Moreover, in the bonding system S of the present exemplary embodiment, a thermal camera is also mounted in the bonding device 20. Because of this, it is possible to measure the surface temperature of the bonding substrates 90. In addition, the temperature sensors 62 are built into the supporting jig 10. As a result, the control unit 40 controls the bonding device 20 based on the obtained measurement results. Accordingly, not only can the weld quality be stabilized, but better quality control can also be achieved.

[0084] (Supplementary Description of the Above-Described Exemplary Embodiment)

[0085] Note that, in the above-described exemplary embodiment, the bonding system S is provided with the operating device 50, however, the present disclosure is not limited to this, and it is also possible for no operating device to be provided.

[0086] Moreover, in the above-described exemplary embodiment, the bonding system S is provided with the temperature adjustment devices 64, however, the present disclosure is not limited to this, and it is also possible for no temperature adjustment devices to be provided.

[0087] Moreover, in the above-described exemplary embodiment, an example is described in which the material used to form the supporting jig 10 is an aluminum alloy, however, the present disclosure is not limited to this, and it is also possible for another material to be used to form the supporting jig.

[0088] Moreover, in the above-described exemplary embodiment, an example in which the mounting surface 12 of the supporting jig 10 is formed so as to include a plurality of bonding supporting surfaces 15 (15A, 15B, 15C) that each have a different normal direction, however, the ‘plurality of bonding supporting surfaces’ of the present disclosure are not limited to these. In other words, it is not essential that the plurality of bonding supporting surfaces be bonding supporting surfaces that each have a different normal direction, and may instead be a plurality of bonding supporting surfaces that each have the same normal direction.

[0089] Priority is claimed on Japanese Patent Application No. 2017-065548, the disclosure of which is incorporated herein by reference

[0090] All references, patent applications and technical specifications cited in the present specification are incorporated by reference into the present specification to the same extent as if the individual references, patent applications and technical specifications were specifically and individually recited as being incorporated by reference.